Algorithmic Foundations of Robotics VIII: Selected Contributions of the Eighth International Workshop on the Algorithmic Foundations of Robotics / Edition 1

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More About This Textbook


This volume is the outcome of the eighth edition of the biennial Workshop on Algorithmic Foundations of Robotics (WAFR). Edited by G.S. Chirikjian, H. Choset, M. Morales and T. Murphey, the book offers a collection of a wide range of topics in advanced robotics, including networked robots, distributed systems, manipulation, planning under uncertainty, minimalism, geometric sensing, geometric computation, stochastic planning methods, and medical applications.

The contents of the forty-two contributions represent a cross-section of the current state of research from one particular aspect: algorithms, and how they are inspired by classical disciplines, such as discrete and computational geometry, differential geometry, mechanics, optimization, operations research, computer science, probability and statistics, and information theory. Validation of algorithms, design concepts, and techniques are the common threads running through this focused collection. Rich by topics and authoritative contributors, WAFR culminates with this unique reference on the current developments and new directions in the field of algorithmic foundations.

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Product Details

  • ISBN-13: 9783642003110
  • Publisher: Springer Berlin Heidelberg
  • Publication date: 2/1/2010
  • Series: Springer Tracts in Advanced Robotics Series , #57
  • Edition description: 2010
  • Edition number: 1
  • Pages: 686
  • Product dimensions: 6.30 (w) x 9.20 (h) x 1.80 (d)

Table of Contents

Part I Networks

Probabilistic Network Formation through Coverage and Freeze-Tag Eric Meisner Wei Yang Volkan Isler 3

Planning Aims for a Network of Horizontal and Overhead Sensors Erik Halvorson Ronald Parr 19

Mobile Wireless Sensor Network Connectivity Repair with K-Redundancy Nuzhet Atay Burchan Bayazit 35

Part II Distributed Systems

On Endogenous Reconfiguration in Mobile Robotic Networks Ketan Savla Emilio Frazzoli 53

Simultaneous Control of Multiple MEMS Microrobots Bruce R. Donald Christopher G. Levey Igor Paprotny Daniela Rus 69

Simultaneous Coverage and Tracking (SCAT) of Moving Targets with Robot Networks Luciano C.A. Pimenta Mac Schwager Quentin Lindsey Vijay Kumar Daniela Rus Renato C. Mesquita Guilherme A.S. Pereira 85

Cooperative Towing with Multiple Robots Peng Cheng Jonathan Fink Soonkyum Kim Vijay Kumar 101

Part III Manipulation

Two Finger Caging: Squeezing and Stretching Alberto Rodriguez Matthew T. Mason 119

A State Transition Diagram for Simultaneous Collisions with Application in Billiard Shooting Yan-Bin Jia Matthew Mason Michael Erdmann 135

A Variational Approach to Strand-Based Modeling of the Human Hand Elliot R. Johnson Karen Morris Todd D. Murphey 151

A Stopping Algorithm for Mechanical Systems Jason Nightingale Richard Hind Bill Goodwine 167

Part IV Robust Planning

Perceived CT-Space for Motion Planning in Unknown and Unpredictable Environments Rayomand Vatcha Jing Xiao 183

Bounded Uncertainty Roadmaps for Path Planning Leonidas J. Guibas David Hsu Hanna Kurniawati Ehsan Rehman 199

A Sampling Hyperbelief Optimization Technique for Stochastic Systems James C. Davidson Seth A. Hutchinson 217

Part V Computational Minimalism

On the Value of Ignorance: Balancing Tracking and Privacy Using a Two-Bit Sensor Jason M. O'Kane 235

On the Existence of Nash Equilibrium for a Two Player Pursuit-Evasion Game with Visibility Constraints Sourabh Bhattacharya Seth Hutchinson 251

On the Topology of Plans Michael Erdmann 267

Part VI Geometric Sensing

Mirror-Based Extrinsic Camera Calibration Joel A. Hesch Anastasios I. Mourikis Stergios I. Roumeliotis 285

On the Analysis of the Depth Error on the Road Plane for Monocular Vision-Based Robot Navigation Dezhen Song Hyunnam Lee Jingang Yi 301

Sensor Beams, Obstacles, and Possible Paths Benjamin Tovar Fred Cohen Steven M. LaValle 317

A Motion Planner for Maintaining Landmark Visibility with a Differential Drive Robot Jean-Bernard Hayet Claudia Esteves Rafael Murrieta-Cid 333

Part VII Geometric Computations

On Approximate Geodesic-Distance Queries amid Deforming Point Clouds Pankaj K. Agarwal Alon Efrat R. Sharathkumar Hai Yu 351

Constrained Motion Interpolation with Distance Constraints Liangjun Zhang Dinesh Manocha 367

Generating Uniform Incremental Grids on SO(3) Using the Hopf Fibration Anna Yershova Steven M. LaValle Julie C. Mitchell 385

A Simple Method for Computing Minkowski Sum Boundary in 3D Using Collision Detection Jyh-Ming Lien 401

Polyhedral Assembly Partitioning with Infinite Translations or The Importance of Being Exact Efi Fogel Dan Halperin 417

Realistic Reconfiguration of Crystalline (and Telecube) Robots Greg Aloupis S?bastien Collette Mirela Damian Erik D. Demaine Dania El-Khechen Robin Flatland Stefan Langerman Joseph O'Rourke Val Pinciu Suneeta Ramaswami Vera Sacristán Stefanie Wuhrer 433

Kinodynamic Motion Planning by Interior-Exterior Cell Exploration Ioan A. Şucan Lydia E. Kavraki 449

Part VIII Stochastic Methods in Planning

Control of Probabilistic Diffusion in Motion Planning Sebastien Dalibard Jean-Paul Laumond 467

Stochastic Motion Planning and Applications to Traffic Sejoon Lim Hari Balakrishnan David Gifford Samuel Madden Daniela Rus 483

On Probabilistic Search Decisions under Searcher Motion Constraints Timothy H. Chung 501

Planning with Reachable Distances Xinyu Tang Shawna Thomas Nancy M. Amato 517

Part IX Medical Applications

3D Motion Planning Algorithms for Steerable Needles Using Inverse Kinematics Vincent Duindam Jijie Xu Ron Alterovitz Shankar Sastry Ken Goldberg 535

Modeling Structural Heterogeneity in Proteins from X-Ray Data Ankur Dhanik Henry van den Bedem Ashley Deacon Jean Claude Latombe 551

Minimum Resource Characterization of Biochemical Analyses for Digital Microfluidic Biochip Design Lingzhi Luo Srinivas Akella 567

Path Planning for Flexible Needles Using Second Order Error Propagation Wooram Park Yunfeng Wang Gregory S. Chirikjian 583

Part X Planning

Path Planning among Movable Obstacles: A Probabilistically Complete Approach Jur van den Berg Mike Stilman James Kuffner Ming Lin Dinesh Manocha 599

Multi-modal Motion Planning in Non-expansive Spaces Kris Hauser Jean-Claude Latombe 615

Toward SLAM on Graphs Avik De Jusuk Lee Nicholas Keller Noah J. Cowan 631

HybridSLAM: Combining FastSLAM and EKF-SLAM for Reliable Mapping Alex Brooks Tim Bailey 647

Discovering a Point Source in Unknown Environments Martin Burger Yanina Landa Nicolay M. Tanushev Richard Tsai 663

Author Index 679

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